diff --git a/.gitattributes b/.gitattributes
index d14485e5b6196dd4d5ad546621f4b7a3bee3ec13..744f22999768cb7e6c0bc51233bb42f4f16a5fe5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5231,5 +5231,5 @@ dataset/bathroom_supplies/bath_products/48c86a056f1e52768c205fe820bd11e0/lotion_
 dataset/bathroom_supplies/bath_products/48c86a056f1e52768c205fe820bd11e0/mesh/lotion_001.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mesh/sponge_036.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/sponge_036.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/4b76212f869a55f1a89aed1211ee7490/mesh/soap_dish_015.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/4b76212f869a55f1a89aed1211ee7490/soap_dish_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mesh/shampoo_bottle_033.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/shampoo_bottle_033.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fe12f5cfffa6a3b8ac56f3a12526d21602175cd0
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_033_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4dbc0591248c1ffcd9669d3d3a368933a68b57c5
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4bf2147849c8b8eff5db34b5b5b4180f7ccce87833670cfc57c975831218a1c
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diff --git a/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mesh/shampoo_bottle_033.glb b/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mesh/shampoo_bottle_033.glb
new file mode 100644
index 0000000000000000000000000000000000000000..687147487f670c2ef69150553815e4bd3c29ff7c
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mesh/shampoo_bottle_033.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e01ba20722435b48c765fdcbc6cef29dbfd9583c03cb2aa24e786b7c7327aa9
+size 11033892
diff --git a/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mesh/shampoo_bottle_033.mtl b/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mesh/shampoo_bottle_033.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3b9b29aab93ef5d01f0ffe677a857090e43caa5a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mesh/shampoo_bottle_033.mtl
@@ -0,0 +1,6 @@
+newmtl shampoo_bottle_033_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
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diff --git a/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mesh/shampoo_bottle_033.obj b/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mesh/shampoo_bottle_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16be9514c3386542e5df328d2be691538f3fb0c7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mesh/shampoo_bottle_033.obj
@@ -0,0 +1,106238 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl shampoo_bottle_033_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mesh/shampoo_bottle_033_collision.obj b/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mesh/shampoo_bottle_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ca8ff6af9dee614a7b73b95e1644aad92b960ea
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mesh/shampoo_bottle_033_collision.obj
@@ -0,0 +1,11159 @@
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diff --git a/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mjcf/mesh/shampoo_bottle_033_collision.obj b/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mjcf/mesh/shampoo_bottle_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47b90821b04ed277a92207ba11f2e72417847d36
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mjcf/mesh/shampoo_bottle_033_collision.obj
@@ -0,0 +1,11159 @@
+# https://github.com/mikedh/trimesh
+
+o shampoo_bottle_033_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mjcf/mesh/shampoo_bottle_033_collision_0.obj b/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mjcf/mesh/shampoo_bottle_033_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0483d79c49f362861e01abc1f176cb297bf9cb4a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mjcf/mesh/shampoo_bottle_033_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mjcf/mesh/shampoo_bottle_033_collision_1.obj b/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mjcf/mesh/shampoo_bottle_033_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb1c129e3826f489f4f5cf0886789f8e9ab8eb0f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mjcf/mesh/shampoo_bottle_033_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mjcf/mesh/shampoo_bottle_033_collision_2.obj b/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mjcf/mesh/shampoo_bottle_033_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad7d0652c5d6cf610c6bf26c79707f212ac5ea34
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mjcf/mesh/shampoo_bottle_033_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mjcf/shampoo_bottle_033.xml b/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mjcf/shampoo_bottle_033.xml
new file mode 100644
index 0000000000000000000000000000000000000000..075509dfb87c87156f496f62a80100010ab4835d
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/mjcf/shampoo_bottle_033.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="shampoo_bottle_033">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/shampoo_bottle_033.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_033_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/shampoo_bottle_033_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/shampoo_bottle_033_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_033">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/shampoo_bottle_033.urdf b/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/shampoo_bottle_033.urdf
new file mode 100644
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@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_033">
+   <link name="shampoo_bottle_033">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_033.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_033_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>4ea43ae5d74a50cd9a87a7754d3da0de</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>pump shampoo bottle</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>dark oval pump shampoo bottle with rounded body</description>
+         <min_height>0.2400</min_height>
+         <max_height>0.2400</max_height>
+         <real_height>0.2400</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609165925</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.026299 -0.057236 -0.097304</min>
+            <max>0.026340 0.057129 0.142696</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/shampoo_bottle_033.usd b/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/shampoo_bottle_033.usd
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+size 4823698
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diff --git a/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/video.mp4 b/dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/video.mp4
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